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docs: UAVCAN_ESC_IFACE (#25560)

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* dronecan: esc: change UAVCAN_ESC_IFACE to 2 to default to only outputting on CAN2

* revert param default and update docs

* Subedit

---------

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
This commit is contained in:
Jacob Dahl
2025-09-16 15:53:00 -08:00
committed by GitHub
parent e72ffa3b1f
commit 2cc64c438f
2 changed files with 22 additions and 1 deletions
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15
docs/en/dronecan/escs.md
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@@ -9,3 +9,18 @@ For more information, see the following articles for specific hardware/firmware:
- [Vertiq](../peripherals/vertiq.md) (larger modules)
- [VESC Project](../peripherals/vesc.md)
- [RaccoonLab Cyphal and DroneCAN PWM nodes](raccoonlab_nodes.md)
## Hardware Configuration
General DroneCAN hardware configuration is covered in [DroneCAN > Hardware Setup](../dronecan/index.md#hardware-setup).
DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth.
## PX4 Configuration
DroneCAN peripherals are configured by following the procedure outlined in [DroneCAN](../dronecan/index.md).
In addition to the general setup, such as setting `UAVCAN_ENABLE` to `3`:
- Select the specific CAN interface(s) used for ESC data output using the [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) parameter (all that all interfaces are selected by default).
- Configure the [motor order and servo outputs](../config/actuators.md).

8
docs/en/dronecan/index.md
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@@ -270,6 +270,9 @@ PX4 DroneCAN parameters:
[DroneCAN ESCs and servos](../dronecan/escs.md) require the [motor order and servo outputs](../config/actuators.md) to be configured.
Select the specific CAN interface(s) used for ESC data output using the [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) parameter (all that all interfaces are selected by default).
Note that DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth.
## QGC CANNODE Parameter Configuration
QGroundControl can inspect and modify parameters belonging to CAN devices attached to the flight controller, provided the device are connected to the flight controller before QGC is started.
@@ -307,7 +310,10 @@ If successful, the firmware binary will be removed from the root directory and t
**Q**: The motors aren't spinning when armed.
**A**: Make sure `UAVCAN_ENABLE` is set to `3` to enable DroneCAN ESC output.
**A**:
- Make sure `UAVCAN_ENABLE` is set to `3` to enable DroneCAN ESC output.
- Make sure `UAVCAN_ESC_IFACE` is set to enable the CAN interface(s) used for ESCs.
---